Design and Motion Analysis of Wheel-Legged Climbing Robot

摘要

This paper develops a miniature wheel-legged climbing robot which can move on the ground and climb on the wall surfaces. The robot system combines the merits of wheeled mechanism, legged mechanism and vacuum-sorbs mechanism, and possesses many advantages, such as less weight, small volume, simplicity structure and quickly response. The robot can change the moving modes according different conditions of terrain; it moves on the ground with high speed and remote distance using wheeled system, and climbs flexibly on the smooth wall surfaces using four impendent-swing-legs and vacuum-sorbs system. The control system based on DSP technology is adopted to ensure the robot to be with low power consuming, good reliability and high real-time characters. The Theoretical analysis and experiment results show that the climbing robot has high mobility, good environment adaptability and climbing wall surface ability.